             (do
               (log/error "TBD: :else")
               []))]
-      (dbg-println :debug "HTN-METHODS " (with-out-str (pprint methods)))
+      (dbg-println :trace "HTN-METHODS " (with-out-str (pprint methods)))
       methods)))
 
 
 
-;; RETURNS htn data structure in Clojure (optionally converted to JSON in cli.clj)
+;; Creates an htn data structure in Clojure (optionally converted to JSON in cli.clj)
 ;; NOTE: root-task is a string (or nil)!!!
 ;; Examples
 ;;   "(isr-htn.main \"A\" \"B\" \"C\" \"D\")"
 ;;   "(isr-htn.get-data-and-interpret \"A\" \"B\")"
 (defn plan-htn
-  "Weaves a 'plan' from the root task, using the HTN methods.  Minimally hard-coded."
+  "Weaves a 'plan' from the root task, using the HTN methods."
   [ir root-task file-format output]
   (reinitialize-htn-method-table)
   (reinitialize-htn-object-table)

                      ;;             (or args margs))
                      _ (assert args "ARGS is nil")
                      task-args (or args margs)
                      _ (dbg-println :debug "TASK-ARGS" task-args)
                      ;;This is the subtask that will be returned (and added to the method)
                      task ((if non-primitive?
                              htn-nonprimitive-task

(defn make-htn-methods "Construct the HTN Method(s) for mname"
  [ir pargs top-level? mpclass mname display-name margs mbody & [irks]]
  (dbg-println :debug "MHM " "TOP-LEVEL?" top-level? "MPCLASS" mpclass "MNAME" mname
               "DISPLAY-NAME" display-name
               "MARGS" margs
               "IRKS" irks "\nMBODY" mbody)
  (let [irks (conj (or irks [mpclass :methods mname]) :body)
        number-of-subtasks (count mbody)
        first-task-type (:type (get mbody 0))]
